摘要
为了研究开架式遥控水下机器人(ROV)非对称性对水平面操纵性的影响,文章基于非对称性和速度耦合项水动力的ROV操纵性方程,建立了水平面运动仿真模型,进行了ROV定常回转运动、Z形操纵运动和螺线运动仿真,分析了ROV正向和倒退航行时操纵运动的各种典型特征参数及运动规律。仿真结果表明:开架式ROV航向对其运动具有较大影响,ROV倒退航行的回转性和跟从性较好,但倒退航行时不具有直航稳定性;ROV水平面的连续转艏将对其跟从性产生影响,尤其在倒退航行时,连续的转艏会使跟从性变差。
To investigate the influence of asymmetrical hydrodynamic loads on the horizontal maneuverability of an open frame remotely operated vehicle(ROV),the horizontal motion simulator is established based on maneuvering equations that consider the asymmetric characteristics and the hydrodynamic loads corresponding to the coupling terms of velocities of the ROV.The steady rotation motion,Zig-zag motion and spiral motion of the ROV are implemented.The rules of significant characteristic parameters and motions of the forward and backward sailing ROV are analyzed.The simulations result show that the moving direction of the ROV has a larger impact on its motions.The backward sailing ROV has good turning quality and followability,but it does not have straight-line stability.The continuous turning of the ROV in the horizontal plane affect its followability.And it makes the follow ability even worse,especially when the ROV sails backward.
作者
郭睿男
昝英飞
王会峰
黄福祥
赵福臣
徐诗婧
GUO Ruinan;ZAN Yingfei;WANG Huifeng;HUANG Fuxiang;Zhao Fuchen;XU Shijing(College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China;Offshore Oil Engineering Co.,Ltd.,Tianjin 300461,China)
出处
《船舶工程》
CSCD
北大核心
2022年第8期145-150,共6页
Ship Engineering
基金
国家重点研发计划项目(2018YFC0309401)
陵水半潜式生产平台研究专项(LSZX-2020-HN-02)
黑龙江省博士后专项经费课题(LBH-Z19054)
作者简介
郭睿男(1996-),男,博士研究生。研究方向:水下机器人运动仿真;通信作者:昝英飞(1985-),男,博士、副教授。研究方向:船舶与海洋工程运动与动力学学模型研究。
